diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..6901112
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,149 @@
+
+# Created by https://www.gitignore.io/api/swift
+# Edit at https://www.gitignore.io/?templates=swift
+
+### Swift ###
+# Xcode
+#
+# gitignore contributors: remember to update Global/Xcode.gitignore, Objective-C.gitignore & Swift.gitignore
+
+## Build generated
+build/
+DerivedData/
+
+## Various settings
+*.pbxuser
+!default.pbxuser
+*.mode1v3
+!default.mode1v3
+*.mode2v3
+!default.mode2v3
+*.perspectivev3
+!default.perspectivev3
+xcuserdata/
+
+## Other
+*.moved-aside
+*.xccheckout
+*.xcscmblueprint
+
+## Obj-C/Swift specific
+*.hmap
+*.ipa
+*.dSYM.zip
+*.dSYM
+
+## Playgrounds
+timeline.xctimeline
+playground.xcworkspace
+
+# Swift Package Manager
+# Add this line if you want to avoid checking in source code from Swift Package Manager dependencies.
+# Packages/
+# Package.pins
+# Package.resolved
+.build/
+
+# CocoaPods
+# We recommend against adding the Pods directory to your .gitignore. However
+# you should judge for yourself, the pros and cons are mentioned at:
+# https://guides.cocoapods.org/using/using-cocoapods.html#should-i-check-the-pods-directory-into-source-control
+# Pods/
+# Add this line if you want to avoid checking in source code from the Xcode workspace
+# *.xcworkspace
+
+# Carthage
+# Add this line if you want to avoid checking in source code from Carthage dependencies.
+# Carthage/Checkouts
+
+Carthage/Build
+
+# fastlane
+# It is recommended to not store the screenshots in the git repo. Instead, use fastlane to re-generate the
+# screenshots whenever they are needed.
+# For more information about the recommended setup visit:
+# https://docs.fastlane.tools/best-practices/source-control/#source-control
+
+fastlane/report.xml
+fastlane/Preview.html
+fastlane/screenshots/**/*.png
+fastlane/test_output
+
+# Code Injection
+# After new code Injection tools there's a generated folder /iOSInjectionProject
+# https://github.com/johnno1962/injectionforxcode
+
+iOSInjectionProject/
+
+# End of https://www.gitignore.io/api/swift
+
+# Created by https://www.gitignore.io/api/xcode
+# Edit at https://www.gitignore.io/?templates=xcode
+
+### Xcode ###
+# Xcode
+#
+# gitignore contributors: remember to update Global/Xcode.gitignore, Objective-C.gitignore & Swift.gitignore
+
+## User settings
+xcuserdata/
+
+## compatibility with Xcode 8 and earlier (ignoring not required starting Xcode 9)
+*.xcscmblueprint
+*.xccheckout
+
+## compatibility with Xcode 3 and earlier (ignoring not required starting Xcode 4)
+build/
+DerivedData/
+*.moved-aside
+*.pbxuser
+!default.pbxuser
+*.mode1v3
+!default.mode1v3
+*.mode2v3
+!default.mode2v3
+*.perspectivev3
+!default.perspectivev3
+
+### Xcode Patch ###
+*.xcodeproj/*
+!*.xcodeproj/project.pbxproj
+!*.xcodeproj/xcshareddata/
+!*.xcworkspace/contents.xcworkspacedata
+/*.gcno
+**/xcshareddata/WorkspaceSettings.xcsettings
+
+# End of https://www.gitignore.io/api/xcode
+
+# Created by https://www.gitignore.io/api/macos
+# Edit at https://www.gitignore.io/?templates=macos
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+# End of https://www.gitignore.io/api/macos
diff --git a/HCKalmanFilter Sample/HCKalmanFilter Sample.xcodeproj/xcuserdata/hypercube2.xcuserdatad/xcschemes/HCKalmanFilter Sample.xcscheme b/HCKalmanFilter Sample/HCKalmanFilter Sample.xcodeproj/xcuserdata/hypercube2.xcuserdatad/xcschemes/HCKalmanFilter Sample.xcscheme
deleted file mode 100644
index 150e1f0..0000000
--- a/HCKalmanFilter Sample/HCKalmanFilter Sample.xcodeproj/xcuserdata/hypercube2.xcuserdatad/xcschemes/HCKalmanFilter Sample.xcscheme	
+++ /dev/null
@@ -1,91 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Scheme
-   LastUpgradeVersion = "0830"
-   version = "1.3">
-   <BuildAction
-      parallelizeBuildables = "YES"
-      buildImplicitDependencies = "YES">
-      <BuildActionEntries>
-         <BuildActionEntry
-            buildForTesting = "YES"
-            buildForRunning = "YES"
-            buildForProfiling = "YES"
-            buildForArchiving = "YES"
-            buildForAnalyzing = "YES">
-            <BuildableReference
-               BuildableIdentifier = "primary"
-               BlueprintIdentifier = "A5D359661F713E7700B436D5"
-               BuildableName = "HCKalmanFilter Sample.app"
-               BlueprintName = "HCKalmanFilter Sample"
-               ReferencedContainer = "container:HCKalmanFilter Sample.xcodeproj">
-            </BuildableReference>
-         </BuildActionEntry>
-      </BuildActionEntries>
-   </BuildAction>
-   <TestAction
-      buildConfiguration = "Debug"
-      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
-      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
-      shouldUseLaunchSchemeArgsEnv = "YES">
-      <Testables>
-      </Testables>
-      <MacroExpansion>
-         <BuildableReference
-            BuildableIdentifier = "primary"
-            BlueprintIdentifier = "A5D359661F713E7700B436D5"
-            BuildableName = "HCKalmanFilter Sample.app"
-            BlueprintName = "HCKalmanFilter Sample"
-            ReferencedContainer = "container:HCKalmanFilter Sample.xcodeproj">
-         </BuildableReference>
-      </MacroExpansion>
-      <AdditionalOptions>
-      </AdditionalOptions>
-   </TestAction>
-   <LaunchAction
-      buildConfiguration = "Debug"
-      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
-      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
-      launchStyle = "0"
-      useCustomWorkingDirectory = "NO"
-      ignoresPersistentStateOnLaunch = "NO"
-      debugDocumentVersioning = "YES"
-      debugServiceExtension = "internal"
-      allowLocationSimulation = "YES">
-      <BuildableProductRunnable
-         runnableDebuggingMode = "0">
-         <BuildableReference
-            BuildableIdentifier = "primary"
-            BlueprintIdentifier = "A5D359661F713E7700B436D5"
-            BuildableName = "HCKalmanFilter Sample.app"
-            BlueprintName = "HCKalmanFilter Sample"
-            ReferencedContainer = "container:HCKalmanFilter Sample.xcodeproj">
-         </BuildableReference>
-      </BuildableProductRunnable>
-      <AdditionalOptions>
-      </AdditionalOptions>
-   </LaunchAction>
-   <ProfileAction
-      buildConfiguration = "Release"
-      shouldUseLaunchSchemeArgsEnv = "YES"
-      savedToolIdentifier = ""
-      useCustomWorkingDirectory = "NO"
-      debugDocumentVersioning = "YES">
-      <BuildableProductRunnable
-         runnableDebuggingMode = "0">
-         <BuildableReference
-            BuildableIdentifier = "primary"
-            BlueprintIdentifier = "A5D359661F713E7700B436D5"
-            BuildableName = "HCKalmanFilter Sample.app"
-            BlueprintName = "HCKalmanFilter Sample"
-            ReferencedContainer = "container:HCKalmanFilter Sample.xcodeproj">
-         </BuildableReference>
-      </BuildableProductRunnable>
-   </ProfileAction>
-   <AnalyzeAction
-      buildConfiguration = "Debug">
-   </AnalyzeAction>
-   <ArchiveAction
-      buildConfiguration = "Release"
-      revealArchiveInOrganizer = "YES">
-   </ArchiveAction>
-</Scheme>
diff --git a/HCKalmanFilter Sample/HCKalmanFilter Sample.xcodeproj/xcuserdata/hypercube2.xcuserdatad/xcschemes/xcschememanagement.plist b/HCKalmanFilter Sample/HCKalmanFilter Sample.xcodeproj/xcuserdata/hypercube2.xcuserdatad/xcschemes/xcschememanagement.plist
deleted file mode 100644
index d841434..0000000
--- a/HCKalmanFilter Sample/HCKalmanFilter Sample.xcodeproj/xcuserdata/hypercube2.xcuserdatad/xcschemes/xcschememanagement.plist	
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-<dict>
-	<key>SchemeUserState</key>
-	<dict>
-		<key>HCKalmanFilter Sample.xcscheme</key>
-		<dict>
-			<key>orderHint</key>
-			<integer>0</integer>
-		</dict>
-	</dict>
-	<key>SuppressBuildableAutocreation</key>
-	<dict>
-		<key>A5D359661F713E7700B436D5</key>
-		<dict>
-			<key>primary</key>
-			<true/>
-		</dict>
-	</dict>
-</dict>
-</plist>